The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Embedded unknown input sliding mode observer to estimate the vehicle roll and road bank angles: Experimental evaluation

Menhour Lghani
Heudiasyc Laboratory, CNRS UMR 6599, Université de Technologie de Compiègne
France

Lechner Daniel
INRETS-MA Laboratory
France

Charara Ali
Heudiasyc Laboratory, CNRS UMR 6599, Université de Technologie de Compiègne
France

Abstract:
Driving safely can be achieved by better understanding critical situations. This can be achieved by a good knowledge of road attributes and vehicle dynamic parameters. Road bank angle has an important role on the vehicle lateral dynamic; unfortunately, this parameter is not measured by low cost embedded sensor. This paper presents a new estimation process which was designed to estimate the lateral wind force, the road bank and vehicle roll angles using an unknown input sliding mode observer and a linear vehicle model with variant parameters. The vehicle model used here is relatively simple, but it offers a sufficient approximation of the lateral dynamics of the vehicle in normal driving situations. This observer uses the sensor measurements such as the steering angle, the vehicle sideslip angle, the roll rate and the yaw rate. Experimental evaluation proves that the estimation scheme is giving appropriate estimation of the vehicle roll and road bank angles. These tests are carried out using the data acquired on the laboratory vehicle Peugeot 307 developed by INRETS-MA.

 

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